Robotic, Grippers, Grasping, and Grasp Planning

Abstract

Utilizing robotic hands for manipulating objects and assembly requires one to deal with problems like immobility, grasp planning, and regrasp planning. This chapter integrates some essential subjects on robotic grasping: the first section presents a concise taxonomy of robotic grippers and hands. Then the basic concepts of grasping are provided, including immobility, form-closure, and force-closure, 2D and 3D grasping, and Coulomb friction. Next, the principles of grasp planning, measures of grasping quality, pre-grasp, stable grasps, and regrasp planning are presented. The chapter presents comparisons for robotic grippers, a new classification of measures of grasp quality, and a new categorization of regrasp planning approaches.